• International Journal of Ocean System Engineering
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• 제3권1호
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• pp.10-15
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• 2013

A ship cruising in the ocean oscillates continuously due to wave action. In order to reduce the ship's roll, we developed a fin stabilizer as an anti-rolling device for a 500-ton-class high-speed marine vessel. During the development phase, it was necessary to set up control gains for the motion and hydraulic systems and assess the effectiveness of the anti-rolling performance on the ground. For this reason, a Target Simulator, which simulated the ship's motion, was given operator inputs such as the engine telegraph and waterjet deflection angle, and generated roll using a one-degree-of-freedom motion base. Hardware-In-the-Loop Simulation (HILS) was performed using the Target Simulator in order to confirm the various logics of the developed fin stabilizer, select initial control gains, and estimate the anti-rolling performance. In conclusion, it was confirmed that HILS was very helpful to develop the fin stabilizer because it could reduce the number of sea trial tests that were needed and could find many malfunctions in the factory a priori.

• International Journal of Naval Architecture and Ocean Engineering
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• 제6권2호
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• pp.347-360
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• 2014

The auto-berthing of a ship requires excellent control for safe accomplishment. Crabbing, which is the pure sway motion of a ship without surge velocity, can be used for this purpose. Crabbing is induced by a peculiar operation procedure known as the push-pull mode. When a ship is in the push-pull mode, an interacting force is induced by complex turbulent flow around the ship generated by the propellers and side thrusters. In this paper, three degrees of freedom equations of the motions of crabbing are derived. The equations are used to apply the adaptive backstepping control method to the auto-berthing controller of a cruise ship. The controller is capable of handling the system non-linearity and uncertainty of the berthing process. A control allocation algorithm for a ship equipped with two propellers and two side thrusters is also developed, the performance of which is validated by simulation of auto-berthing.

• Journal of Advanced Marine Engineering and Technology
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• 제30권2호
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• pp.253-259
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• 2006

There is few study which automatically diagnoses the fault from ship's monitored data. The bigger control and monitoring system is. the more important fault diagnosis and maintenance is to reduce damage caused by system fault. This paper proposes fault diagnosis system using a correlation analysis algorithm which is able to diagnose and forecast the fault from monitored data and is composed of fault detection knowledge base and fault diagnosis knowledge base. For all kinds of ship's engine room monitored data are classified with combustion subsystem, heat exchange subsystem and electric motor and pump subsystem, To verify capability of fault detection, diagnosis and prediction, FMS(Fault Management System) is developed by C++. Simulation by FMS is carried out with population data set made by the log book data of 2 months duration from a large full container ship of H shipping company.

• 제어로봇시스템학회논문지
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• 제11권4호
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• pp.363-368
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• 2005

This paper proposes an LOS(line-of-sight) guidance system of a ship for path following. From the viewpoint of a control configuration, guidance is a special type of compensation algorithm that is placed in front of the controller to accomplish navigational objects. A guidance system generates a reference trajectory for trajectory tracking or path control and decides the desired velocity, position and heading angle. A control system executes commands based on a reliable guidance law during navigation. An LOS vector from the vessel to a point on the path between two way-points in straight-line navigation or a point among turning circle in turning navigation is selected, and then a heading angle is calculated to converge the desired path based on the LOS vector. The LOS guidance law is defined for the straight-line and the turning circle, respectively. The effectiveness of the suggested LOS guidance system is assured through computer simulation.

• 로봇학회논문지
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• 제17권4호
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• pp.493-499
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• 2022

This paper presents the design for the kinematic structure of a system for an automatically moored 6000 ton autonomous ship in a port, and the process and results of optimal design for the link cross-sectional shape. We propose an automatic mooring system with a PPP type serial manipulator structure capable of linear motion in the XYZ axis. The mooring force applied by the mooring system was derived with dynamics simulation tool "ADAMS". The design goal is the minimization of the cross-sectional area of the link. Constrains include compressive stress and shear stress. The optimization problems were solved by using the sequential quadratic programing method implemented in the fmincon package. The shape of the cross section was assumed to be rectangle. Through future research, we plan to manufacture automatic mooring system for 6000ton class autonomous ship.

• 대한조선학회논문집
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• 제50권5호
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• pp.282-290
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• 2013

The effects of the combination of blade number for forward and after propeller on the propeller shaft forces of a contra-rotating propeller (CRP) system are presented in the paper. The research is performed through the numerical simulations based on the Reynolds-Averaged Navier-Stokes equations (RANS). The simulation results of the present method in open water condition are validated comparing with the experimental data as well as the other numerical simulation results based on the potential method for 4-0-4 CRP (3686+3687A) and 4-0-5 CRP (3686+3849) of DTNSRDC. Two sets of CRP are designed and simulated to study the effect of the combination of blade number in behind-hull condition. One set consists of 3-blade and 4-blade, while the other is 4-blade and 4-blade. A full hull body submerged under the free surface is modeled in the computational domain to simulate directly the wake field of the ship at the propeller plane. From the simulation results, the fluctuations of axial force and moment are dominant in the case of same blade numbers for forward and after propellers, whereas the fluctuations of horizontal and vertical forces and moments are very large in the case of different blade numbers.

• 한국항해항만학회지
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• 제44권5호
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• pp.423-429
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• 2020

A ship's automatic steering system is the basis for addressing control difficulties related to course-changing and course-keeping during navigation through heading angle control, and is a link in realizing unmanned and autonomous ships. This study proposes a robust RCGA-based linear active disturbance rejection controller (LADRC) design method considering environmental disturbances, measurement noise, and model uncertainties in designing a ship heading controller for use when the ship is sailing. The LADRC consisted of a transient profile, a linear extended state observer, and a PD controller. The control gains in the LADRC with the linear extended state observer were adjusted by RCGAs to minimize the integral of the time-weighted absolute error (ITAE), which is an evaluation function of the control system. The proposed method was applied to ship heading control, and its effectiveness was validated by comparing the propulsive energy loss between the proposed method and a conventional linear PD controller. The simulation results showed that the proposed method had the advantages of lower propulsive energy loss, more robustness, and higher tracking precision than the conventional linear PD controller.

• International Journal of Naval Architecture and Ocean Engineering
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• 제3권3호
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• pp.181-192
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• 2011

Recently, the speed of change related with enterprise management is getting faster than ever owing to the competition among companies, technique diffusion, shortening of product lifecycle, excessive supply of market. For the example, the compliance condition (such as delivery date, product quality, etc.) from the ship owner is getting complicated and the needs for the new product such as FPSO, FSRU are coming to fore. This paradigm shift emphasize the rapid response rather than the competitive price, flexibility and agility rather than effective and optimal perspective for the domestic shipbuilding company. So, domestic shipbuilding companies have to secure agile and flexible ship production environment that could respond change of market and requirements of customers in order to continue a competitive edge in the world market. In this paper, I'm going to define a standard shipbuilding production management system by investigating the environment of domestic major shipbuilding companies. Also, I'm going to propose a unified ship production management and system for the operation of unified management through detail analysis of the activities and the data flow of ship production management. And, the system functions for the strategic approach of ship production management are investigated through the business administration tools such as performance pyramid, VDT and BSC. Lastly, the research of applying strategic KPI to the digital shipyard as virtual execution platform is conducted.

• 한국정보통신학회논문지
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• 제14권12호
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• pp.2636-2641
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• 2010

선박과 선박, 선박과 육상 관제소간에 선박의 위치정보 등을 자동 송수신하여 선박 간의 충돌 방지 및 해난 수색 구조 활동을 지원하기 위하여 선박 자동 식별 장치인 AIS(automatic identification system)을 채용하고 있다. 그리고, 항만의 관제시스템은 선박 AIS와 연계하여 선박의 통항을 관리한다. 효율적인 통항관리를 할 수 있도록 AIS 연동하는 선박 인식 및 표출 시스템이 요구되고 있다. 본 논문에서는 카메라로부터 입력된 해상 또는 항만 영상에 대하여 배경추정을 이용한 영상기반의 선박검출과 검출된 해당 선박의 AIS 신호를 연동하여 모니터 상에 표출하는 AIS 연동 선박검출 방법을 제안한다. 해상 또는 항만에서 실시간 입력되는 영상에 대하여 선박 검출 실험을 하였다. 시뮬레이션 및 실험결과 제안하는 알고리즘이 항만의 선박 관제에 효과적으로 활용할 수 있음을 확인하였다.

• 한국항해항만학회지
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• 제29권8호
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• pp.653-660
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• 2005

여수해만의 교통안전특정해역은 1988년에 설정된 이후 선박 입항 척수 및 톤수가 크게 변하는 등 해상교통환경이 급격하게 변화된 것에도 불구하고, 통항분리가 되지 않은 채 흘수제약선의 깊은수심항로만 지정되어 있고 흘수제약선 이외의 통항선박들에 대한 항로체계는 미비한 실정이다. 또한 여수해만 입구의 A, B, C, W 묘박지에서 항로로 진입하는 선박과 조업어선 등의 무질서한 운항으로 통항선박의 안전에 지장을 초래하고 있는 실정이다. 본 연구에서는 여수해만 특정해역에 대하여 장래의 교통여건까지 고려하여 도출된 문제점에 대한 개선방안을 강구하는 등 해양사고 예방을 위한 종합적인 해상교통체제 설정에 목적이 있다.